#include <SPI.h>             
#include <nRF24L01.h>        
#include <RF24.h>            

int xData; // Variables for the xData to be recieved to
int yData;

RF24 radio(3,A3);             //Creating instance 'radio'  ( CE , CSN )   CE -> 3 | CSN -> A3                              
const byte Address[6] = "0100"; // Address from which data to be received

void RF24setup() {
// Serial.begin(9600);  Only needed for Debugging         
radio.begin();        // waking up the Transmitter                       
radio.openReadingPipe(1, Address); 
radio.startListening();         

}

void RF24loop() { 
  if (radio.available())
  {
      radio.read(&xData, sizeof(xData)); // Storing the xData recieved as xData
      radio.read(&yData, sizeof(yData));
//      Serial.print("xData ");  Only needed for Debugging
//      Serial.print(xData);
//      Serial.print(" ");
//      Serial.print("yData ");
//      Serial.print(yData);
//      Serial.println();
  } 
//  else{Serial.println("Not Receiving !!!");}  Only needed for Debugging
}

// Example from: https://www.geeksforgeeks.org/enumeration-enum-c

enum movement // Creating a variable with different States
{
  Balance,
  Forward,
  Back,
  Turn_Left,
  Turn_Right,
} movement = Balance;

// Creating a Function to assign the Variable the motor speeds for each state

void selfDriving() {
  
    if (movement == Forward){
      setting_car_speed = 80;
      setting_turn_speed = 0;
      }
    if (movement == Back){
      setting_car_speed = -80;
      setting_turn_speed = 0;
      }
    if (movement == Turn_Left){
      setting_car_speed = 0;
      setting_turn_speed = 80;
      }
    if (movement == Turn_Right){
      setting_car_speed = 0;
      setting_turn_speed = -80;
      }
    if(movement == Balance){
      setting_car_speed = 0;
      setting_turn_speed = 0;
      }
}

// Assigning the Joystick values to individual states

void joyStickDriving(){
  if (yData < 300){
    movement = Forward;
    selfDriving();
    }
  if (yData > 1000){
    movement = Back;
    selfDriving();  
    }
  if (xData < 100){
    movement = Turn_Left;
    selfDriving();
    }
  if (xData > 1000){
    movement = Turn_Right;
    selfDriving();
    }
  else{
    movement = Balance;
    selfDriving();
    }
}